\section{Simulation software}\label{software}
The developed software in connection with the project is attached. The software is intended for experimental use, which is why the usability lacks quite a bit.\\ 
\noindent In order to run the software a number of pre-requisites are present.
\subsection*{Pre-requisites}
\begin{itemize}
\item Ubuntu 11.10
\item RobWork, RobWorkStudio and RobWorkSim in revision 3516 from RobWork repository (\url{https://svn.mip.sdu.dk/RobWork/trunk})
\item GCC 4.5
\end{itemize}
Given the pre-requisites the software works as an ordinary RobWorkStudio plugin, why we refer to the RobWorkStudio help file for how to setup and build such a plugin.\\

\noindent A "HOWTO" file is included with the software, describing how the software can be compiled under Linux.

\subsection*{Configuration}
Before running the plugin one should define the path to the corresponding dynamic scene file in Defines.hpp, as well as the acceleration to be applied.

\subsection*{How to use the plugin}
The following sequence of steps are to performed in the right order for the plugin to work as intended.
\begin{enumerate}
\item Push "Open Dynamic WorkCell"
\item Set number of tasks
\item Push "Generate Tasks"
\item Push "Save Tasks"
\item Push "Load Tasks"
\item Push "Simulate" 
\item Wait....
\item Wait more.
\item Finally, when finished, push "Save Results"
\item The results can then be found in the file Result.txt in the folder where RobWorkStudio is executed.
\end{enumerate}
